#ifndef MATRIXLIB_H
#define MATRIXLIB_H
+#ifndef M_PI
+#define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
+#endif
+
+//#define MATRIX4x4_OPENGLORIENTATION
+
typedef struct matrix4x4_s
{
float m[4][4];
}
matrix4x4_t;
-typedef struct matrix3x4_s
-{
- float m[3][4];
-}
-matrix3x4_t;
+extern const matrix4x4_t identitymatrix;
// functions for manipulating 4x4 matrices
void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in);
// copy only the translate portion of a matrix4x4
void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in);
-// make a matrix4x4 from a matrix3x4
-void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, const matrix3x4_t *in);
// multiply two matrix4x4 together, combining their transformations
// (warning: order matters - Concat(a, b, c) != Concat(a, c, b))
void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2);
// swaps the rows and columns of the matrix
// (is this useful for anything?)
void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1);
-// swaps the rows and columns of the rotation matrix
-// (inverting the rotation, but leaving everything else the same)
-void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1);
+// creates a matrix that does the opposite of the matrix provided
+// this is a full matrix inverter, it should be able to invert any matrix that
+// is possible to invert
+// (non-uniform scaling, rotation, shearing, and translation, possibly others)
+// warning: this function is SLOW
+int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1);
// creates a matrix that does the opposite of the matrix provided
// only supports translate, rotate, scale (not scale3) matrices
void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1);
+// creates a matrix that does the same rotation and translation as the matrix
+// provided, but no uniform scaling, does not support scale3 matrices
+void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1);
+// modifies a matrix to have all vectors and origin reflected across the plane
+// to the opposite side (at least if axisscale is -2)
+void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale);
// creates an identity matrix
// (a matrix which does nothing)
void Matrix4x4_CreateIdentity (matrix4x4_t *out);
// creates a translate matrix
// (moves vectors)
-void Matrix4x4_CreateTranslate (matrix4x4_t *out, float x, float y, float z);
+void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z);
// creates a rotate matrix
// (rotates vectors)
-void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, float z);
+void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z);
// creates a scaling matrix
// (expands or contracts vectors)
// (warning: do not apply this kind of matrix to direction vectors)
-void Matrix4x4_CreateScale (matrix4x4_t *out, float x);
+void Matrix4x4_CreateScale (matrix4x4_t *out, double x);
// creates a squishing matrix
// (expands or contracts vectors differently in different axis)
// (warning: this is not reversed by Invert_Simple)
// (warning: do not apply this kind of matrix to direction vectors)
-void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z);
+void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z);
// creates a matrix for a quake entity
-void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale);
+void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale);
// converts a matrix4x4 to a set of 3D vectors for the 3 axial directions, and the translate
void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]);
// creates a matrix4x4 from a set of 3D vectors for axial directions, and translate
void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]);
+// converts a matrix4x4 to a double[16] array in the OpenGL orientation
+void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16]);
+// creates a matrix4x4 from a double[16] array in the OpenGL orientation
+void Matrix4x4_FromArrayDoubleGL(matrix4x4_t *out, const double in[16]);
+// converts a matrix4x4 to a double[16] array in the Direct3D orientation
+void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16]);
+// creates a matrix4x4 from a double[16] array in the Direct3D orientation
+void Matrix4x4_FromArrayDoubleD3D(matrix4x4_t *out, const double in[16]);
+
+// converts a matrix4x4 to a float[12] array in the OpenGL orientation
+void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12]);
+// creates a matrix4x4 from a float[12] array in the OpenGL orientation
+void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12]);
+// converts a matrix4x4 to a float[12] array in the Direct3D orientation
+void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12]);
+// creates a matrix4x4 from a float[12] array in the Direct3D orientation
+void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12]);
+
+// creates a matrix4x4 from an origin and quaternion (used mostly with skeletal model formats such as PSK)
+void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w);
+// creates a matrix4x4 from an origin and canonical unit-length quaternion (used mostly with skeletal model formats such as MD5)
+void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z);
+
+// blends two matrices together, at a given percentage (blend controls percentage of in2)
+void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend);
+
// transforms a 3D vector through a matrix4x4
void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3]);
// transforms a 4D vector through a matrix4x4
// ease of use functions
// immediately applies a Translate to the matrix
-void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z);
+void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z);
// immediately applies a Rotate to the matrix
-void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z);
+void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z);
// immediately applies a Scale to the matrix
-void Matrix4x4_ConcatScale (matrix4x4_t *out, float x);
+void Matrix4x4_ConcatScale (matrix4x4_t *out, double x);
// immediately applies a Scale3 to the matrix
-void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z);
-
-// print a matrix to the console
-void Matrix4x4_Print(const matrix4x4_t *in);
-
-
-// functions for manipulating 3x4 matrices
-
-// copy a matrix3x4
-void Matrix3x4_Copy (matrix3x4_t *out, const matrix3x4_t *in);
-// copy only the rotation portion of a matrix3x4
-void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, const matrix3x4_t *in);
-// copy only the translate portion of a matrix3x4
-void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, const matrix3x4_t *in);
-// make a matrix3x4 from a matrix4x4
-void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, const matrix4x4_t *in);
-// multiply two matrix3x4 together, combining their transformations
-// (warning: order matters - Concat(a, b, c) != Concat(a, c, b))
-void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2);
-// swaps the rows and columns of the rotation matrix
-// (inverting the rotation, but leaving everything else the same)
-void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1);
-// creates a matrix that does the opposite of the matrix provided
-// only supports translate, rotate, scale (not scale3) matrices
-void Matrix3x4_Invert_Simple (matrix3x4_t *out, const matrix3x4_t *in1);
-
-// creates an identity matrix
-// (a matrix which does nothing)
-void Matrix3x4_CreateIdentity (matrix3x4_t *out);
-// creates a translate matrix
-// (moves vectors)
-void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z);
-// creates a rotate matrix
-// (rotates vectors)
-void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z);
-// creates a scaling matrix
-// (expands or contracts vectors)
-// (warning: do not apply this kind of matrix to direction vectors)
-void Matrix3x4_CreateScale (matrix3x4_t *out, float x);
-// creates a squishing matrix
-// (expands or contracts vectors differently in different axis)
-// (warning: this is not reversed by Invert_Simple)
-// (warning: do not apply this kind of matrix to direction vectors)
-void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z);
-// creates a matrix for a quake entity
-void Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale);
-
-// converts a matrix3x4 to a set of 3D vectors for the 3 axial directions, and the translate
-void Matrix3x4_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]);
-// creates a matrix3x4 from a set of 3D vectors for axial directions, and translate
-void Matrix3x4_FromVectors(matrix3x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]);
-
-// transforms a 3D vector through a matrix3x4
-void Matrix3x4_Transform (const matrix3x4_t *in, const float v[3], float out[3]);
-// reverse transforms a 3D vector through a matrix3x4, at least for *simple*
-// cases (rotation and translation *ONLY*), this attempts to undo the results
-// of Transform
-//void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float out[3]);
-// transforms a direction vector through the rotation part of a matrix
-void Matrix3x4_Transform3x3 (const matrix3x4_t *in, const float v[3], float out[3]);
-
-// ease of use functions
-// immediately applies a Translate to the matrix
-void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z);
-// immediately applies a Rotate to the matrix
-void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z);
-// immediately applies a Scale to the matrix
-void Matrix3x4_ConcatScale (matrix3x4_t *out, float x);
-// immediately applies a Scale3 to the matrix
-void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z);
-
-// print a matrix to the console
-void Matrix3x4_Print(const matrix3x4_t *in);
+void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z);
+
+// extracts origin vector (translate) from matrix
+void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out);
+// extracts scaling factor from matrix (only works for uniform scaling)
+double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in);
+
+// replaces origin vector (translate) in matrix
+void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z);
+// moves origin vector (translate) in matrix by a simple translate
+void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z);
+// scales vectors of a matrix in place and allows you to scale origin as well
+void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale);
#endif